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            <td width="718"><font size="-1"><A href="rtklib.htm">Overview</A> | Release Notes | <A href="rtklib_support.htm">Support</A> | <A href="rtklib_document.htm">Documents</A> | <A href="rtklib_reference.htm">References </A><FONT size="-1">| <A href="rtklib_beagleboard.htm">Porting to BB</A> | <A href="rtklib_todo.htm">To Do</A></FONT> | <a href="rtklib_download.htm">Statistics</a></font></td>
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            <TD><FONT size="+2"><B>RTKLIB: Release Notes</B></FONT></TD>
            <TD align="right" valign="bottom"><FONT size="-1">2011/06/10</FONT></TD>
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<HR>
<P><B><FONT size="+1">RTKLIB ver.2.4.1 Release Notes</FONT></B></P>
<p><b><u>New Features in ver.2.4.1</u></b></p>
<blockquote><font size="-1">(1) Support Javad (JNS) receiver, Furuno GW10 receiver<br>
(2) Support QZSS and enable Galileo (Galileo
is not yet formally supported)<br>
(3) Support background image overlay for
solution plots in RTKPLOT<BR>
(4) Support IONEX TEC grid for ionosphere
correction<BR>
(5) Support multiple-session RINEX conversion
in RTKCONV<br>
</font></blockquote>
<P><B><U>Supported RTCM and Receivers' Proprietary Messages</U></B></P>
<CENTER>
<TABLE border="1" cellspacing="0" cellpadding="0">
  <COL span="1" width="110">
  <COL span="6" width="90">
  <TBODY>
    <TR>
      <TD rowspan="2" align="center" bgcolor="#eeeeee"><B><FONT size="-1">RTCM version<br>
      /Receiver</FONT></B></TD>
      <TD colspan="8" align="center" bgcolor="#eeeeee"><B><FONT size="-1">Data Message Types</FONT></B></TD>
    </TR>
    <TR>
      <TD align="center" bgcolor="#eeeeee"><B><FONT size="-1">GPS/QZS Raw Meas Data</FONT></B></TD>
      <TD align="center" bgcolor="#eeeeee"><B><FONT size="-1">GLONASS Raw Meas</FONT></B></TD>
      <TD align="center" bgcolor="#eeeeee"><B><FONT size="-1">GPS/QZS Ephemeris</FONT></B></TD>
      <TD align="center" bgcolor="#eeeeee"><B><FONT size="-1">GLONASS<BR>
      Ephemeris</FONT></B></TD>
      <TD align="center" bgcolor="#eeeeee"><B><FONT size="-1">ION/UTC<br>
      Parameters</FONT></B></TD>
      <TD align="center" bgcolor="#eeeeee"><b><FONT size="-1">Antenna<br>
      Info</FONT></b></TD>
      <TD bgcolor="#eeeeee" align="center"><B><FONT size="-1">SBAS<BR>
      Messages</FONT></B></TD>
      <TD align="center" bgcolor="#eeeeee"><B><FONT size="-1">Others</FONT></B></TD>
    </TR>
    <TR>
      <TD align="center"><FONT size="-1">RTCM v.2.3 <SUP><FONT size="-2">(1)</FONT></SUP></FONT></TD>
      <TD align="center"><FONT size="-1">Type 18, 19</FONT></TD>
      <TD align="center"><FONT size="-1">Type 18, 19</FONT></TD>
      <TD align="center"><FONT size="-1">Type 17</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">Type 3, 22</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">Type 1, 9,<BR>
      14, 16</FONT></TD>
    </TR>
    <TR>
      <TD align="center"><FONT size="-1">RTCM v.3.1 </FONT><SUP><FONT size="-2">(1)</FONT></SUP></TD>
      <TD align="center"><FONT size="-1">Type 1002,<BR>
      1004</FONT></TD>
      <TD align="center"><FONT size="-1">Type 1010,<BR>
      1012</FONT></TD>
      <TD align="center"><FONT size="-1">Type 1019</FONT></TD>
      <TD align="center"><FONT size="-1">Type 1020</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">Type 1005,<BR>
      1006, 1007,<br>
      1008, 1033<br>
      </FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">SSR<br>
      corrections<br>
      </FONT><font size="-2">(9)</font></TD>
    </TR>
    <TR>
      <TD align="center"><FONT size="-1">NovAtel <BR>
      OEM4/V, <br>
      OEMStar </FONT><FONT size="-2"><SUP>(2)</SUP></FONT></TD>
      <TD align="center"><FONT size="-1">RANGEB, RANGECMPB</FONT></TD>
      <TD align="center"><FONT size="-1">RANGEB,<BR>
      RANGECMPB</FONT></TD>
      <TD align="center"><FONT size="-1">RAWEPHEMB</FONT></TD>
      <TD align="center"><FONT size="-1">GLO-<BR>
      EPHEMERISB</FONT></TD>
      <TD align="center"><FONT size="-1">IONUTCB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">RAWWAAS-<BR>
      FRAMEB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
    </TR>
    <TR>
      <TD align="center"><FONT size="-1">NovAtel<br>
      OEM3 </FONT><FONT size="-2"><SUP> (2)</SUP></FONT></TD>
      <TD align="center"><FONT size="-1">RGEB,<BR>
      RGED</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">REPB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">IONB, UTCB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">FRMB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
    </TR>
    <TR>
      <TD align="center">&nbsp;<font size="-1">NovAtel<br>
      Superstar II </font><FONT size="-2"><SUP>(2)</SUP></FONT></TD>
      <TD align="center"><font size="-1">ID#23</font>&nbsp;</TD>
      <TD align="center">&nbsp;<font size="-1">-</font></TD>
      <TD align="center"><font size="-1">ID#22</font>&nbsp;</TD>
      <TD align="center">&nbsp;<font size="-1">-</font></TD>
      <TD align="center"><font size="-1">-</font>&nbsp;</TD>
      <TD align="center">&nbsp;<font size="-1">-</font></TD>
      <TD align="center">&nbsp;<font size="-1">ID#67</font></TD>
      <TD align="center"><font size="-1">ID#20,<br>
      #21</font><font size="-2"> (8)</font>&nbsp;</TD>
    </TR>
    <TR>
      <TD align="center"><font size="-1">JAVAD</font><font size="-2"><sup> (10)</sup></font><font size="-1"><br>
      GRIL/GRIES&nbsp;</font></TD>
      <TD align="center"><font size="-1">[rc][cp][DC][CE][TC]<br>
      [1r][1p][1E]<br>
      [2r][2p][2d][2E]<br>
      [5r][5p][5d][5E]<br>
      [3r][3p][c3]&nbsp;</font></TD>
      <TD align="center"><font size="-1">[rc][cp][DC][CE][TC]<br>
      [1r][1p][1E]<br>
      [2r][2p][2d][2E]&nbsp;</font></TD>
      <TD align="center"><font size="-1">[GE][QE]&nbsp;</font></TD>
      <TD align="center"><font size="-1">[NE]&nbsp;</font></TD>
      <TD align="center"><font size="-1">-</font></TD>
      <TD align="center"><font size="-1">-</font></TD>
      <TD align="center"><font size="-1">[WD]&nbsp;</font></TD>
      <TD align="center"><font size="-1">[~~][RD]<br>
      [ST][NN]</font></TD>
    </TR>
    <TR>
      <TD align="center"><FONT size="-1">u-blox <br>
      LEA-4T,</FONT><FONT size="-2"><SUP> (3)</SUP></FONT><br>
      <font size="-1">5T, 6T</font><FONT size="-2"><SUP>(3) (5)</SUP></FONT></TD>
      <TD align="center"><FONT size="-1">UBX<BR>
      RXM-RAW</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">UBX<BR>
      RXM-SFRB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">UBX<BR>
      RXM-SFRB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">UBX<BR>
      RXM-SFRB</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
    </TR>
    <TR>
      <TD align="center"><FONT size="-1">Hemisphere<BR>
      Crescent, <br>
      Eclipse </FONT><FONT size="-2"><SUP>(4)</SUP></FONT></TD>
      <TD align="center"><FONT size="-1">bin 96,<br>
      bin 76</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">bin 95</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">bin 94</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">bin 80</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
    </TR>
    <TR>
      <TD align="center"><font size="-1">&nbsp;Furuno</font><font size="-2"><sup> (11)</sup></font><font size="-1"><br>
      GW-10-II/III</font></TD>
      <TD align="center"><font size="-1">msg 0x08</font></TD>
      <TD align="center"><font size="-1">-</font></TD>
      <TD align="center"><font size="-1">msg 0x27</font></TD>
      <TD align="center"><font size="-1">-</font></TD>
      <TD align="center"><font size="-1">msg 0x27</font></TD>
      <TD align="center"><font size="-1">-</font></TD>
      <TD align="center"><font size="-1">msg 0x27</font></TD>
      <TD align="center"><font size="-1">msg 0x20</font><font size="-2"><br>
      (8)</font></TD>
    </TR>
    <TR>
      <TD align="center"><FONT size="-1">SkyTraq</FONT><FONT size="-1"><BR>
      S1315F <FONT size="-2"><SUP>(6) (7)</SUP></FONT></FONT></TD>
      <TD align="center"><FONT size="-1"><FONT size="-1">msg 0xDD<BR>
      (221)</FONT></FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1"><FONT size="-1">msg 0xE0<BR>
      (224)</FONT></FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1"><FONT size="-1">msg 0xE0<BR>
      (224)</FONT></FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1">-</FONT></TD>
      <TD align="center"><FONT size="-1"><FONT size="-1">msg 0xDC<BR>
      (220)</FONT><font size="-2"> (8)</font></FONT></TD>
    </TR>
  </TBODY>
</TABLE>
<font size="-1">(1) <A href="http://www.rtcm.org/">http://www.rtcm.org/</A> (2) <A href="http://www.novatel.com/">http://www.novatel.com/</A> (3) <A href="http://www.u-blox.com/">http://u-blox.com/</A> (4) <A href="http://www.hemispheregps.com/">http://www.hemispheregps.com/</A> (5) F/W 6.02<br>
(6) <A href="http://www.skytraq.com.tw/">http://www.skytraq.com.tw/</A> (7) F/W 1.8.23-091106 or later (8) need the messages to get the measurement
time for other messages <br>
(9) Type 1057, 1058, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1066, 1067,
1068 (based on 2010-4-12 version draft)(10) <a href="http://www.javad.com">http://www.javad.com</a><br>
(11) <a href="http://www.furuno.com/">http://www.furuno.com</a></font></CENTER>
<p><b><u>Supported RINEX Files</u></b></p>
<div align="center">
<table border="1" cellspacing="0">
  <col span="1" width="110">
  <col span="12" width="45">
  <col span="2" width="60">
  <tbody>
    <tr>
      <td rowspan="2" align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">&nbsp;RINEX<br>
      Version</font></b></td>
      <td colspan="6" align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">&nbsp;Observation Data</font></b></td>
      <td colspan="6" align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">Navigation Messages&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</font></b></td>
      <td rowspan="2" align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">&nbsp;Met.</font></b></td>
      <td rowspan="2" align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">Clock&nbsp;</font></b></td>
    </tr>
    <tr>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">&nbsp;GPS</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">GLO</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">GAL</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">QZSS</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><font size="-1"><b>&nbsp;CMP</b></font></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">&nbsp;SBAS</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">GPS</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">GLO</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">GAL</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">QZSS</font></b></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><font size="-1"><b>CMP</b></font></td>
      <td align="center" valign="middle" bgcolor="#eeeeee"><b><font size="-1">SBAS</font></b></td>
    </tr>
    <tr>
      <td align="center" valign="middle"><font size="-1">&nbsp;2.10, 2.11, 2.12</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td valign="middle" align="center"><font size="-1">O*</font></td>
      <td valign="middle" align="center"><font size="-1">&nbsp;-</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td align="center" valign="middle"><font size="-1">N</font></td>
      <td align="center" valign="middle"><font size="-1">G</font></td>
      <td align="center" valign="middle"><font size="-1">L*</font></td>
      <td align="center" valign="middle"><font size="-1">J*</font></td>
      <td align="center" valign="middle"><font size="-1">&nbsp;-</font></td>
      <td align="center" valign="middle"><font size="-1">H</font></td>
      <td align="center" valign="middle"><font size="-1">-</font></td>
      <td align="center" valign="middle"><font size="-1">-</font></td>
    </tr>
    <tr>
      <td align="center" valign="middle"><font size="-1">&nbsp;3.00</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td valign="middle" align="center"><font size="-1">O*</font></td>
      <td valign="middle" align="center"><font size="-1">&nbsp;-</font></td>
      <td align="center" valign="middle"><font size="-1">O</font></td>
      <td align="center" valign="middle"><font size="-1">N</font></td>
      <td align="center" valign="middle"><font size="-1">N</font></td>
      <td align="center" valign="middle"><font size="-1">N</font></td>
      <td align="center" valign="middle"><font size="-1">N*</font></td>
      <td align="center" valign="middle"><font size="-1">&nbsp;-</font></td>
      <td align="center" valign="middle"><font size="-1">N</font></td>
      <td align="center" valign="middle"><font size="-1">-</font></td>
      <td align="center" valign="middle"><font size="-1">&nbsp;C**</font></td>
    </tr>
  </tbody>
</table>
<font size="-1">O, N, G, H, C, L: RINEX file type, GLO: GLONASS,
GAL: Galileo, CMP: Compass,
* extension, ** read only, - not supported<BR>
RINEX QZSS Extensions are based on JAXA proposal
(2010-8-4 version draft)</font></div>
<P align="left"><B><U>Changes: ver.2.4.0 -&gt; ver.2.4.1</U></B></P>
<P><FONT size="-1">(1) The following patches for ver.2.4.0 are included.<BR>
</FONT></P>
<BLOCKQUOTE><FONT size="-1">rtklib_2.4.0_p1, <FONT size="-1">rtklib_2.4.0_p2, <FONT size="-1">rtklib_2.4.0_p3, rtklib_2.4.0_p4, rtklib_2.4.0_p5, rtklib_2.4.0_p6, rtklib_2.4.0_p7,
rtklib_2.4.0_p8, rtklib_2.4.0_p9<BR>
</FONT></FONT></FONT></BLOCKQUOTE>
<P><FONT size="-1">(2) The following problems are fixed.</FONT></P>
<BLOCKQUOTE><FONT size="-1">(a) No.50 Program freezes with BeagleBoard and u-blox receiver<BR>
(b) No.53 Time synchronization problem between the rover and the base station<br>
(c) No.55 Real-time PPP is not enabled with products.igs-ip.net/CLK80<br>
(d) No.58 RTKNAVI crashes due to MKL library<br>
(e) No.59 NMEA solution data can not be read and displayed<br>
(f) No.60 50 Hz or higher rate observation
date are not properly analyzed<br>
(g) No.61 AP running as a TCP server stops if a TCP client stops<br>
(h) No.62 Sol1-Sol2 difference mode plot does not indicate proper values<br>
(i) No. 64 A half hour offset of time-tag in converted RINEX OBS files<BR>
</FONT></BLOCKQUOTE><P><FONT size="-1">(3) The following APIs are added, deleted
or changed.</FONT></P>
<BLOCKQUOTE><FONT size="-1">(a) added<BR>
uniqnav(), freeobs(), freenav(), ionppp(),
iontec(), readtec(), ionocorr(), tropcorr(),
outrnxhnavh(), outrnxlnavh(),<BR>
outrnxqnavh(), outrnxhnavb(), alm2pos(),
input_gw10(), input_javad(), input_gw10f(),
input_javadf(), freesolstatbuff(),<BR>
strsetproxy()<br>
</FONT></BLOCKQUOTE>
<BLOCKQUOTE><FONT size="-1">(b) deleted<BR>
none<br>
</FONT></BLOCKQUOTE>
<BLOCKQUOTE><FONT size="-1">(c) changed<br>
readrnx(), readrnxt(), outrnxnavh(), outrnxgnavh(),
satpos(), satposs(), decode_frame(), strsvrstart(),
rtksvrstart(),<BR>
rtksvrostat()<BR>
</FONT></BLOCKQUOTE>
<P><FONT size="-1">(4) The following source codes for the library are added.</FONT></P>
<BLOCKQUOTE><FONT size="-1">ionex.c, rcv/javad.c, rcv/gw10.c</FONT></BLOCKQUOTE>
<P><FONT size="-1">(5) RTKNAVI/RTKNAVI_MKL</FONT></P>
<BLOCKQUOTE><FONT size="-1">(a) RTKNAVI_MKL AP is added.<BR>
(b) wide-mode satellite signal plots are
added<BR>
(c) GW10 and Javad receiver are supported
as input stream format<BR>
(d) Input stream receiver option setting
is added<BR>
(e) PPP-Fixed mode is added for Positioning
Mode option<BR>
(f) Triple frequency (L1+L2+L5) is supported
as Frequency option<BR>
(g) IONEX TEC and QZSS Broadcast is supported
as Ionosphere Correction<BR>
(h) Inclusion of unhealthy satellite options
are supported<BR>
(i) QZSS is supported and Galileo is enabled<BR>
(j) Min Elevation to Hold Ambiguity option
is added<BR>
(k) Reject Threshold of GDOP option is added<BR>
(l) HTTP/NTRIP Proxy is supported<BR>
<FONT size="-1">(m) Overlapped file swap is supported<BR>
</FONT>(n) The following RTK monitor displays are
supported: Time/Iono, Iono Correction<BR>
(o) Command line option to select INI file
is added<br>
</FONT></BLOCKQUOTE>
<P><FONT size="-1">(6) RTKRCV</FONT></P>
<BLOCKQUOTE><FONT size="-1">(a) The same as (c), (e) - (m) for RTKNAVI<br>
</FONT></BLOCKQUOTE>
<P><FONT size="-1">(7) RTKPOST/RTKPOST_MKL</FONT></P>
<blockquote><font size="-1">(a) Output solution directory option is added<BR>
(b) The same as (c), (e) (k), (o) for RTKNAVI<br>
</font></blockquote>
<P><FONT size="-1">(8) RTKCONV</FONT></P>
<BLOCKQUOTE><font size="-1">(a) QZSS is supported and Galileo is enabled<BR>
(b) Keyword replacement in input file path
is supported<BR>
(c) Multiple-session RINEX conversion is
supported<BR>
(d) Furuno GW10 and Javad are supported as
Input Format<BR>
(e) Output directory option is added<BR>
(f) RINEX file name convention is supported<BR>
(f) &quot;Process...&quot; button to launch
RTKPOST is added<BR>
(g) <FONT size="-1">Command line option to select INI file is
added<BR>
</FONT></font></BLOCKQUOTE>
<P><FONT size="-1">(9) RTKPLOT</FONT></P>
<BLOCKQUOTE><font size="-1">(a) Image map overlay in &quot;Gnd Trk&quot;
plot is supported<BR>
(b) Multiple inputs is supported in real-time
plot mode<BR>
(c) The following options are supported:
Receiver Position, Marker Color 2</font></BLOCKQUOTE>
<P><FONT size="-1">(10) STRSVR</FONT></P>
<blockquote><font size="-1">(a) HTTP/NTRIP Proxy is supported<BR>
(b) File swap margin option is added</font><BR>
<FONT size="-1">(c) Command line option to select INI file
is added<BR>
</FONT></blockquote>
<P><FONT size="-1">(11) CONVBIN</FONT></P>
<BLOCKQUOTE><FONT size="-1">(a) The following options are added: -ro
-hc -hm -hn -ht -ho -hr -ha -hp -hd -y -c
-q<BR>
(b) Furuno GW10 and Javad receivers are supported<BR>
(c) QZSS is supported and Galileo is enabled<BR>
(d) Triple frequency (L1+L2+L5) is supported<BR>
(e) RINEX file name convention is supported</FONT></BLOCKQUOTE>
<P><FONT size="-1">(12) RNX2RTKP</FONT></P>
<BLOCKQUOTE><FONT size="-1">(a) QZSS is supported and Galileo is enabled<BR>
(b) Triple frequency (L1+L2+L5) is supported<br>
</FONT></BLOCKQUOTE>
<P><FONT size="-1">(13) STR2STR</FONT></P>
<BLOCKQUOTE><FONT size="-1">(a) Command line option -f, -l and -x are
added</FONT></BLOCKQUOTE>
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<p><a href="rtklib_2.4.0_releasenote.htm"><b><font size="+1">RTKLIB ver.2.4.0 Relase Notes</font></b></a></p>
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